Generative AI Empowered LiDAR Point Cloud Generation with Multimodal Transformer
Bibliographic record
Abstract
Integrated sensing and communications is a key enabler for the 6G wireless communication systems. The multiple sensing modalities will allow the base station to have a more accurate representation of the environment, leading to context-aware communications. Some widely equipped sensors such as cameras and RADAR sensors can provide some environmental perceptions. However, they are not enough to generate precise environmental representations, especially in adverse weather conditions. On the other hand, the LiDAR sensors provide more accurate representations, however, their widespread adoption is hindered by their high cost. This paper proposes a novel approach to enhance the wireless communication systems by synthesizing LiDAR point clouds from images and RADAR data. Specifically, it uses a multimodal transformer architecture and pre-trained encoding models to enable an accurate LiDAR generation. The proposed framework is evaluated on the DeepSense 6G dataset, which is a real-world dataset curated for context-aware wireless applications. Our results demonstrate the efficacy of the proposed approach in accurately generating LiDAR point clouds. We achieve a modified mean squared error of 10.39 with {256, 128, 64, 64} convolutional filters in the LiDAR decoder, as compared to 38.58 achieved for the all-zeroes benchmark. Visual examination of the images indicates that our model can successfully capture the majority of structures present in the LiDAR point cloud for diverse environments. By integrating LiDAR synthesis with existing sensing modalities, our method can enhance the performance of various wireless applications, including beam and blockage prediction.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.001 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.003 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".